CN102267134A - Multifunctional universal robot - Google Patents
Multifunctional universal robot Download PDFInfo
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- CN102267134A CN102267134A CN2011101940222A CN201110194022A CN102267134A CN 102267134 A CN102267134 A CN 102267134A CN 2011101940222 A CN2011101940222 A CN 2011101940222A CN 201110194022 A CN201110194022 A CN 201110194022A CN 102267134 A CN102267134 A CN 102267134A
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- bevel gear
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Abstract
The invention provides a multifunctional universal robot. A first arm shaft drives a first direction output shaft to rotate through a gearbox so that a direction rotating powder is output. A second arm shaft drives a second direction output shaft to output a rotating power vertical to the second arm shaft, and a third arm shaft can drive a second shell to rotate as a whole so that the position of the second direction output shaft is adjusted. Compared with a traditional pouring robot, the multifunctional universal robot provided by the invention can be used for outputting two rotating powers in vertical directions and can meet requirements of working places like pouring, welding and the like so that the functions of the robot can be increased to adapt to multiple working environments.
Description
Technical field:
The present invention relates to the Robotics field, more specifically to a kind of all-purpose robot that can have functions such as welding, cast, carrying.
Background technology:
Robot is more and more to be applied to every field, especially industrial circle, is the installations that automatically perform work.It can accept human commander, can move the program of layout in advance again, also can be according to the guiding principle action of artificial intelligence principle design.Its task is to assist or replacement human work operation.
The function ratio of existing robot general execution is more single, can only carry out the welding function as welding robot, and pouring robot can only be carried out and water pouring functions, can't satisfy effect of one machine multiple purposes.
Existing pouring robot has base, chassis, big arm and arm axle, and the chassis can be rotated around base, and big arm can rotate around the chassis, and arm axle can rotate around big arm.Its weak point is: it is moving that its robots arm can only finish a rotation, so function ratio is more single, uses when only being fit to cast.
Summary of the invention:
Purpose of the present invention is exactly the deficiency at prior art, and a kind of multifunctional universal robot is provided, and it both can have been worked as pouring robot and uses, and can work as the use of welding robot and transfer robot again, and one-object-many-purposes has increased the function of robot.
Technology solution of the present invention is as follows:
A kind of multifunctional universal robot, comprise base, chassis, big arm, arm axle and robots arm, rotate around base on the chassis, big arm rotates around the chassis, arm axle rotates around big arm, robots arm's structure is, the first arm axle sleeve is in second arm axle, and the inner ring of clutch shaft bearing is fixed on first arm axle, the outer ring of clutch shaft bearing is fixed on second arm axle;
The second arm axle sleeve is in the 3rd arm axle, and the inner ring of second bearing is fixed on second arm axle, the outer ring of clutch shaft bearing is fixed on the 3rd arm axle;
The 3rd arm axle sleeve is in housing, and the inner ring of the 3rd bearing is fixed on the 3rd arm axle, the outer ring of the 3rd bearing is fixed on the housing;
Be fixed with second housing on the 3rd arm axle, be fixed with second bevel gear on second arm axle, second bevel gear and second second being meshed on output shaft to bevel gear;
Be fixed with first bevel gear on first arm axle, power shaft bevel gear on the power shaft of first bevel gear and gear-box is meshed, be fixed with the output shaft bevel gear on the output shaft of gear-box, the output shaft bevel gear and first first being meshed on output shaft to bevel gear;
Be fixed with first arm axle wedge wheel on first arm axle, the first arm spindle motor drives first arm axle wedge wheel by wedge wheel and wedge band and rotates;
Be fixed with second arm axle wedge wheel on second arm axle, the second arm axle motor drives second arm axle wedge wheel by wedge wheel and wedge band and rotates;
Be fixed with second arm axle wedge wheel on the 3rd arm axle, the 3rd arm axle motor drives the 3rd arm axle wedge wheel by wedge wheel and wedge band and rotates;
Housing is fixed on the arm axle, and the first arm spindle motor, the second arm axle motor and the 3rd arm axle are fixed on the arm axle.
Beneficial effect of the present invention is:
Compared with prior art, it can export the rotary power of two perpendicular directions, can be fit to the requirement of workplaces such as cast and welding, thereby increases the function of robot, to adapt to various working environments.
Description of drawings:
Fig. 1 is a structural representation of the present invention
Fig. 2 is the structural representation of arm axle and robots arm's part
The specific embodiment:
Embodiment: see shown in Fig. 1,2, a kind of multifunctional universal robot, comprise base 1, chassis 2, big arm 3, arm axle 4 and robots arm 5, rotate around base 1 on chassis 2, big arm 3 is 2 rotations around the chassis, and arm axle 4 rotates around big arm 3, and robots arm 5 structure is, first arm axle, 52 sleeves are in second arm axle 53, and the inner ring of clutch shaft bearing 52-53 is fixed on first arm axle 52, the outer ring of clutch shaft bearing 52-53 is fixed on second arm axle 53;
Second arm axle, 53 sleeves are in the 3rd arm axle 54, and the inner ring of the second bearing 53-54 is fixed on second arm axle 53, the outer ring of clutch shaft bearing 53-54 is fixed on the 3rd arm axle 54;
The 3rd arm axle 54 sleeves are in housing 51, and the inner ring of the 3rd bearing 54-51 is fixed on the 3rd arm axle 54, the outer ring of the 3rd bearing 54-51 is fixed on the housing 51;
Be fixed with on the 3rd arm axle 54 and be fixed with second bevel gear, 533, the second bevel gears 533 and second second being meshed on output shaft 56 on second housing, 55, the second arm axles 53 to bevel gear 561;
Be fixed with first bevel gear 523 on first arm axle 52, power shaft bevel gear 571 on the power shaft of first bevel gear 523 and gear-box 57 is meshed, be fixed with output shaft bevel gear 572 on the output shaft of gear-box 57, the output shaft bevel gear 572 and first first being meshed on output shaft 58 to bevel gear 581;
Be fixed with first arm axle wedge wheel 521 on first arm axle 52, the first arm spindle motor 522 drives first arm axle wedge wheel 521 by wedge wheel and wedge band and rotates;
Be fixed with second arm axle wedge wheel, 531, the second arm axle motors 532 on second arm axle 53 and drive 531 rotations of second arm axle wedge wheel by wedge wheel and wedge band;
Be fixed with second arm axle wedge wheel, 541, the three arm axle motors 542 on the 3rd arm axle 54 and drive 541 rotations of the 3rd arm axle wedge wheel by wedge wheel and wedge band;
Housing 51 is fixed on the arm axle 4, and the first arm spindle motor 522, the second arm axle motor 532 and the 3rd arm axle 54 are fixed on the arm axle 4.
Operation principle: because first arm axle 52, second arm axle 53 be in the same place with the 3rd arm axle 54 sleeves, so that it takies volume is little.First arm axle 52 drives first to output shaft 58 rotations by gear-box 57, exports a direction rotary power like this.
Second arm axle 53 drives second to one of the output shaft 56 output rotary power with second arm axle, 53 vertical direction, and the 3rd arm axle 54 can drive second housing, 55 unitary rotation, thereby adjusts second position to output shaft 56.
Compare with existing pouring robot, it can export the rotary power of two perpendicular directions, can be fit to the requirement of workplaces such as cast and welding, thereby increases the function of robot, to adapt to various working environments.
Claims (1)
1. multifunctional universal robot, comprise base (1), chassis (2), big arm (3), arm axle (4) and robots arm (5), rotate around base (1) on chassis (2), big arm (3) is (2) rotation around the chassis, arm axle (4) rotates around big arm (3), it is characterized in that: robots arm's (5) structure is, first arm axle (52) sleeve is in second arm axle (53), and the inner ring of clutch shaft bearing (52-53) is fixed on first arm axle (52), the outer ring of clutch shaft bearing (52-53) is fixed on second arm axle (53);
Second arm axle (53) sleeve is in the 3rd arm axle (54), and the inner ring of second bearing (53-54) is fixed on second arm axle (53), the outer ring of clutch shaft bearing (53-54) is fixed on the 3rd arm axle (54);
The 3rd arm axle (54) sleeve is in housing (51), and the inner ring of the 3rd bearing (54-51) is fixed on the 3rd arm axle (54), the outer ring of the 3rd bearing (54-51) is fixed on the housing (51);
Be fixed with second housing (55) on the 3rd arm axle (54), be fixed with second bevel gear (533) on second arm axle (53), second bevel gear (533) and second second being meshed on output shaft (56) to bevel gear (561);
Be fixed with first bevel gear (523) on first arm axle (52), power shaft bevel gear (571) on the power shaft of first bevel gear (523) and gear-box (57) is meshed, be fixed with output shaft bevel gear (572) on the output shaft of gear-box (57), the output shaft bevel gear (572) and first first being meshed on output shaft (58) to bevel gear (581);
Be fixed with first arm axle wedge wheel (521) on first arm axle (52), the first arm spindle motor (522) drives first arm axle wedge wheel (521) by wedge wheel and wedge band and rotates;
Be fixed with second arm axle wedge wheel (531) on second arm axle (53), the second arm axle motor (532) drives second arm axle wedge wheel (531) by wedge wheel and wedge band and rotates;
Be fixed with second arm axle wedge wheel (541) on the 3rd arm axle (54), the 3rd arm axle motor (542) drives the 3rd arm axle wedge wheel (541) by wedge wheel and wedge band and rotates;
Housing (51) is fixed on the arm axle (4), and the first arm spindle motor (522), the second arm axle motor (532) and the 3rd arm axle (54) are fixed on the arm axle (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101940222A CN102267134B (en) | 2011-07-12 | 2011-07-12 | Multifunctional universal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101940222A CN102267134B (en) | 2011-07-12 | 2011-07-12 | Multifunctional universal robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102267134A true CN102267134A (en) | 2011-12-07 |
| CN102267134B CN102267134B (en) | 2013-12-25 |
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ID=45049692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101940222A Expired - Fee Related CN102267134B (en) | 2011-07-12 | 2011-07-12 | Multifunctional universal robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN102267134B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837321A (en) * | 2012-09-19 | 2012-12-26 | 浙江万丰科技开发有限公司 | Automatic universal mechanical arm |
| CN103029123A (en) * | 2012-12-22 | 2013-04-10 | 浙江万丰科技开发有限公司 | Light-weight six-shaft universal robot |
| CN103029125A (en) * | 2011-09-30 | 2013-04-10 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN103101052A (en) * | 2013-02-26 | 2013-05-15 | 奇瑞汽车股份有限公司 | Wrist of robot |
| CN104723087A (en) * | 2015-04-17 | 2015-06-24 | 安徽工程大学 | Wrist structure of manipulator arm used for assembling fasteners |
| CN105312808A (en) * | 2015-11-30 | 2016-02-10 | 马鞍山万普实业发展有限公司 | High-degree-of-freedom visual micro spot welding robot |
| CN110434663A (en) * | 2019-09-05 | 2019-11-12 | 烟台大学 | A kind of strip material handling equipment and method |
| CN110977954A (en) * | 2019-11-18 | 2020-04-10 | 广东电网有限责任公司 | Long-arm robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004148455A (en) * | 2002-10-31 | 2004-05-27 | M & C:Kk | Industrial robot |
| CN2747030Y (en) * | 2004-10-09 | 2005-12-21 | 南京航空航天大学 | Three-axis laying manipulator wrist easy to keep stable tension of tows |
| CN201132315Y (en) * | 2007-11-08 | 2008-10-15 | 浙江万丰科技开发有限公司 | Seven-degree of freedom robot casting machine |
| WO2010100362A1 (en) * | 2009-03-06 | 2010-09-10 | Equipements Techniques Des Industries Alimentaires Et Connexes Tecnal | Robot assembly for turning over blocks of cheese moulds |
-
2011
- 2011-07-12 CN CN2011101940222A patent/CN102267134B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004148455A (en) * | 2002-10-31 | 2004-05-27 | M & C:Kk | Industrial robot |
| CN2747030Y (en) * | 2004-10-09 | 2005-12-21 | 南京航空航天大学 | Three-axis laying manipulator wrist easy to keep stable tension of tows |
| CN201132315Y (en) * | 2007-11-08 | 2008-10-15 | 浙江万丰科技开发有限公司 | Seven-degree of freedom robot casting machine |
| WO2010100362A1 (en) * | 2009-03-06 | 2010-09-10 | Equipements Techniques Des Industries Alimentaires Et Connexes Tecnal | Robot assembly for turning over blocks of cheese moulds |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029125A (en) * | 2011-09-30 | 2013-04-10 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN103029125B (en) * | 2011-09-30 | 2015-05-20 | 鸿富锦精密工业（深圳）有限公司 | Robot |
| CN102837321A (en) * | 2012-09-19 | 2012-12-26 | 浙江万丰科技开发有限公司 | Automatic universal mechanical arm |
| CN102837321B (en) * | 2012-09-19 | 2015-10-07 | 浙江万丰科技开发有限公司 | A kind of automation universal mechanical arm |
| CN103029123A (en) * | 2012-12-22 | 2013-04-10 | 浙江万丰科技开发有限公司 | Light-weight six-shaft universal robot |
| CN103101052A (en) * | 2013-02-26 | 2013-05-15 | 奇瑞汽车股份有限公司 | Wrist of robot |
| CN104723087A (en) * | 2015-04-17 | 2015-06-24 | 安徽工程大学 | Wrist structure of manipulator arm used for assembling fasteners |
| CN105312808A (en) * | 2015-11-30 | 2016-02-10 | 马鞍山万普实业发展有限公司 | High-degree-of-freedom visual micro spot welding robot |
| CN110434663A (en) * | 2019-09-05 | 2019-11-12 | 烟台大学 | A kind of strip material handling equipment and method |
| CN110977954A (en) * | 2019-11-18 | 2020-04-10 | 广东电网有限责任公司 | Long-arm robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102267134B (en) | 2013-12-25 |
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